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update pybullet quickstart quide PDF

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hook up the loadMJCF importing MuJoCo xml files in pybullet and shared memory API b3LoadMJCFCommandInit
This commit is contained in:
Erwin Coumans
2016-12-31 14:43:15 -08:00
parent 63d3374c00
commit c940f0ec47
18 changed files with 288 additions and 138 deletions
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19
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -120,7 +120,10 @@ struct BulletMJCFImporterInternalData
btAlignedObjectArray<UrdfModel*> m_models;
int m_activeModel;
//those collision shapes are deleted by caller (todo: make sure this happens!)
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
BulletMJCFImporterInternalData()
:m_activeModel(-1)
{
@@ -794,7 +797,7 @@ bool BulletMJCFImporter::loadMJCF(const char* fileName, MJCFErrorLogger* logger,
m_data->m_pathPrefix[0] = 0;
if (!fileFound){
std::cerr << "URDF file not found" << std::endl;
std::cerr << "MJCF file not found" << std::endl;
return false;
} else
{
@@ -1017,6 +1020,8 @@ int BulletMJCFImporter::getBodyUniqueId() const
class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
{
btCompoundShape* compound = new btCompoundShape();
m_data->m_allocatedCollisionShapes.push_back(compound);
const UrdfLink* link = m_data->getLink(m_data->m_activeModel,linkIndex);
if (link)
{
@@ -1075,6 +1080,7 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
}
if (childShape)
{
m_data->m_allocatedCollisionShapes.push_back(childShape);
compound->addChildShape(col->m_linkLocalFrame,childShape);
}
}
@@ -1082,6 +1088,15 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
return compound;
}
int BulletMJCFImporter::getNumAllocatedCollisionShapes() const
{
return m_data->m_allocatedCollisionShapes.size();
}
class btCollisionShape* BulletMJCFImporter::getAllocatedCollisionShape(int index)
{
return m_data->m_allocatedCollisionShapes[index];
}
int BulletMJCFImporter::getNumModels() const
{